Path Generation with Clothoid Curve Using Image Processing for Two-Wheel-Drive Autonomous Mobile Robots

This paper proposes a new path generation with clothoid curve for autonomous mobile robots. The tested mobile robot has two-drive-wheel on both side and two-free-caster on front and behind. The paths for the robot are generally made up of the straight and curved lines. The same angular velocity of the left and right wheel of the robot makes the robot advance straight, and the angular velocity difference between them makes the robot turn. In order to follow the robot to the paths, it is important for angular velocities of the left and right drive wheel to make continue. The proposed method applies Clothoid curve to the curved lines to realize continual angular velocity. The effectiveness of the proposed path generation is confirmed by the experimental results.